Abrasion inspection apparatus, abrasion inspection method, and program

ABSTRACT

An abrasion inspection apparatus includes: a first imaging unit installed on a track along which a vehicle is traveling, a guide wheel installed on the vehicle, the first imaging unit imaging an inside of the track; a second imaging unit installed on the track in a vehicle traveling direction with respect to the first imaging unit and imaging the inside of the track; an image acquisition unit acquiring a first image of a boundary of the guide wheel captured by the first imaging unit on a first direction side in the vehicle traveling direction, and a second image of the boundary of the guide wheel captured by the second imaging unit at the same time on an opposite side to the first direction side; and a guide wheel detection unit detecting an abrasion situation of the guide wheel according to a position of a boundary indicated in the acquired images.

RELATED APPLICATIONS

The present application is a National Phase of PCT/JP2015/082689, filedNov. 20, 2015, and claims priority based on Japanese Patent ApplicationNo. 2015-038661, filed Feb. 27, 2015.

TECHNICAL FIELD

The present invention relates to an abrasion inspection apparatus, anabrasion inspection method, and a program.

Priority is claimed on Japanese Patent Application No. 2015-038661,filed Feb. 27, 2015, the content of which is incorporated herein byreference.

BACKGROUND ART

In railroad or new transportation systems or the like, inspection ofabrasion of components used in vehicles is generally performed manually.

For example, traveling tires, pantographs, guide wheels, and branchingwheels can be exemplified as consumable components used for vehicles ofnew transportation systems. For such components, operations of manuallymeasuring depths of grooves of traveling tires, abrasion amounts ofpantographs, diameters of guide wheels, and diameters of branchingwheels using vernier calipers and manually inputting measurement resultsin databases are performed in some cases. In the measurement work andmeasurement result input work, labor costs are expended, and it ispreferable for the work to be efficient.

In association with inspection of abrasion of components used forvehicles, a slider abrasion amount automatic measurement systemdisclosed in Patent Literature 1 sets a moving vehicle as a target in agarage and automatically measures an abrasion amount of a slidercontactlessly in accordance with a detection signal for detecting apantograph. In Patent Literature 1, this measurement is considered tocontribute to safety and reduction in labor of a pantograph maintenanceperson.

CITATION LIST Patent Literature

-   [Patent Literature 1]

Japanese Patent No. 3171209

SUMMARY OF INVENTION Technical Problem

It is also desirable to efficiently detect abrasion situations ofcomponents other than pantographs.

The present invention provides an abrasion inspection apparatus, anabrasion inspection method, and a program capable of efficientlydetecting an abrasion situation of a component of a vehicle.

Solution to Problem

According to a first aspect of the present invention, there is providedan abrasion inspection apparatus including: a first imaging unit that isinstalled on a side of a track, a vehicle traveling along the track, aguide wheel being installed on a side of the vehicle, the first imagingunit imaging an inside of the track via a telecentric lens; a secondimaging unit that is installed in a vehicle traveling direction withrespect to the first imaging unit on the side of the track and imagesthe inside of the track via a telecentric lens; an image acquisitionunit that acquires an image which is an image of a boundary of the guidewheel captured by the first imaging unit and is an image of a boundaryon a first direction side in the vehicle traveling direction and animage which is an image of the boundary of the guide wheel captured bythe second imaging unit at the same time as the capturing of the imageby the first imaging unit and is an image of a boundary on an oppositeside to the first direction side; and a guide wheel detection unit thatdetects an abrasion situation of the guide wheel according to a positionof a boundary indicated in the images acquired by the image acquisitionunit.

The abrasion inspection apparatus may further include: a third imagingunit that is installed on the side of the track along which the vehiclein which the guide wheel is installed on the side travels and images theinside of the track via a telecentric lens; and a fourth imaging unitthat is installed in the vehicle traveling direction with respect to thethird imaging unit on the side of the track and images the inside of thetrack via a telecentric lens. A rotation mechanism that is in contactwith the guide wheel and rotates the guide wheel may be installed on theside of the track. Both the first and second imaging units may beinstalled at positions at which the images of the boundary of the guidewheel are captured before the rotation mechanism rotates the guidewheel. Both the third and fourth imaging units may be installed atpositions at which the images of the boundary of the guide wheel arecaptured after the rotation mechanism rotates the guide wheel. The imageacquisition unit may further acquire an image which is an image of theboundary of the guide wheel captured by the third imaging unit and is animage of a boundary on the first direction side in the vehicle travelingdirection and an image which is an image of the boundary of the guidewheel captured by the fourth imaging unit at the same time as thecapturing of the image by the third imaging unit and is an image of theboundary on the opposite side to the first direction side. The guidewheel detection unit may detect the abrasion situation of the guidewheel according to a position of the boundary indicated in each of theimage captured by the first imaging unit and the image captured by thesecond imaging unit and may further detect the abrasion situation of theguide wheel according to the image captured by the third imaging unitand a position of the boundary indicated in each image captured by thefourth imaging unit.

The abrasion inspection apparatus may further include: a distancemeasurement unit that is installed on a lower side of the track andmeasures a distance to an object located on an upper side which has aninclination in the vehicle traveling direction with respect to avertical direction; and a tire detection unit that detects an abrasionsituation of a traveling tire according to a distance which is measuredby the distance measurement unit and is a distance between the distancemeasurement unit and the traveling tire installed on a lower side of thevehicle.

According to a second aspect of the present invention, there is providedan abrasion inspection apparatus including: a distance measurement unitthat is installed on a lower side of a track of a transportation systemin which a traveling tire is installed on a lower side of a vehicle, thedistance measurement unit measuring a distance to an object located onan upper side which has an inclination in a vehicle traveling directionwith respect to a vertical direction; and a tire detection unit thatdetects an abrasion situation of the traveling tire according to adistance which is measured by the distance measurement unit and is adistance between the distance measurement unit and the traveling tire ofthe vehicle.

According to a third aspect of the present invention, there is providedan abrasion inspection method of an abrasion inspection apparatusincluding a first imaging unit and a second imaging unit, the firstimaging unit being installed on a side of a track, a vehicle travelingalong the track, a guide wheel being installed on a side of the vehicle,the first imaging unit imaging an inside of the track via a telecentriclens, the second imaging unit being installed in a vehicle travelingdirection with respect to the first imaging unit on the side of thetrack and images the inside of the track via a telecentric lens. Theabrasion inspection method includes: acquiring an image which is animage of a boundary of the guide wheel captured by the first imagingunit and is an image of a boundary on a first direction side in thevehicle traveling direction and an image which is an image of theboundary of the guide wheel captured by the second imaging unit at thesame time as the capturing of the image by the first imaging unit and isan image of a boundary on an opposite side to the first direction side;and detecting an abrasion situation of the guide wheel according to aposition of a boundary indicated in the acquired images.

According to a fourth aspect of the present invention, there is provideda program for a computer used for an abrasion inspection apparatusincluding a first imaging unit and second imaging unit, the firstimaging unit being installed on a side of a track, a vehicle travelingalong the track, a guide wheel being installed on a side of the vehicle,the first imaging unit imaging an inside of the track via a telecentriclens, the second imaging unit being installed in the vehicle travelingdirection with respect to the first imaging unit on the side of thetrack, the second imaging unit imaging the inside of the track via atelecentric lens, the program causing the computer to perform: acquiringan image which is an image of a boundary of the guide wheel captured bythe first imaging unit and is an image of a boundary on a firstdirection side in the vehicle traveling direction and an image which isan image of the boundary of the guide wheel captured by the secondimaging unit the same time as the capturing of the image by the firstimaging unit and is an image of a boundary on an opposite side to thefirst direction side; and detecting an abrasion situation of the guidewheel according to a position of a boundary indicated in the acquiredimages.

Advantageous Effects of Invention

According to the foregoing abrasion inspection apparatus, abrasioninspection method, and program, it is possible to efficiently detect theabrasion situation of a component of a vehicle.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is a schematic block diagram showing a functional configurationof an abrasion inspection apparatus according to an embodiment of theinvention.

FIG. 2 is an exterior diagram showing a schematic exterior of a lowerportion of a vehicle when viewed from the front side according to theembodiment.

FIG. 3 is an explanatory diagram showing an example of a principal rayin a telecentric lens according to the embodiment.

FIG. 4 is an explanatory diagram showing an example of imaged spots of aguide wheel and a branching wheel by a camera according to theembodiment.

FIG. 5 is an exterior diagram showing a schematic exterior of thevehicle when viewed from the upper side according to the embodiment.

FIG. 6 is an explanatory diagram showing an installation example of alaser sensor according to the embodiment.

FIG. 7 is an explanatory diagram showing an example of a correspondencerelation between an image captured by the camera and the guide wheelaccording to the embodiment.

FIG. 8 is a flowchart showing an example of a process procedure in whicha calculation device detects the abrasion situation of the guide wheelaccording to the embodiment.

FIG. 9 is a flowchart showing an example of a process procedure in whichthe calculation device detects the abrasion situation of a travelingtire according to the embodiment.

FIG. 10 is an explanatory diagram showing an example of a change in thedirection of the guide wheel according to the embodiment.

FIG. 11 is a schematic block diagram showing a functional configurationof a first modification example of an abrasion inspection apparatusaccording the embodiment.

FIG. 12 is a schematic block diagram showing a functional configurationof a second modification example of an abrasion inspection apparatusaccording the embodiment.

DESCRIPTION OF EMBODIMENTS

Hereinafter, embodiments of the invention will be described, but thefollowing embodiments do not limit the invention described in theclaims. Not all of the combinations of characteristics described in theembodiments are necessary to solve the problem solved by the invention.

FIG. 1 is a schematic block diagram showing a functional configurationof an abrasion inspection apparatus according to an embodiment of theinvention. In FIG. 1, an abrasion inspection apparatus 1 includescameras 110, a laser sensor 200, and a calculation device 300. Thecamera 110 includes a telecentric lens 111 and an image sensor 112. Thecalculation device 300 includes an image acquisition unit 310, adistance information acquisition unit 320, a storage unit 380, and acalculation unit 390. The calculation unit 390 includes a guide wheeland branching wheel abrasion situation detection unit (hereinafterreferred to as a side wheel detection unit) 391 and a tire abrasionsituation detection unit (hereinafter referred to as a tire detectionunit) 392.

Two cameras 110 are paired to configure an imaging unit pair 100. Thenumber of imaging unit pairs 100 included in the abrasion inspectionapparatus 1 may be 1 or more.

The abrasion inspection apparatus 1 is an apparatus that inspectsabrasion of a guide wheel, abrasion of a branching wheel, and abrasionof a traveling tire installed in a vehicle of a transportation system.Here, a disposition example of the guide wheel, the branching wheel, andthe traveling tire will be described with reference to FIG. 2.

FIG. 2 is an exterior diagram showing a schematic exterior of a lowerportion of the vehicle when viewed from the front side. In a vehicle 900shown in FIG. 2, traveling tires 921 are installed on the right and leftof a vehicle body 910 via shafts 922 and are in contact with a roadsurface. Supports 930 are installed on the right and left of the vehiclebody 910. In the supports 930, guide wheels 941 are installed via shafts942. In the supports 930, branching wheels 951 are installed via shafts952.

The traveling tires 921 rotate about the shafts 922 so that the vehicle900 travels. The guide wheels 941 come into contact with guide railsinstalled on the sides of a track along which the vehicle 900 travelsand limit a traveling direction of the vehicle 900 so that the vehicle900 can travel along the track. The branching wheels 951 come intocontact with guide rails installed on the sides of the track and limitthe traveling direction of the vehicle 900 at a branching point of thetrack to control the traveling direction of the vehicle 900 at thebranching point.

In this way, the traveling tires 921 are abraded by contact with theroad surface. The guide wheels 941 and the branching wheels 951 are allabraded by contact with the guide rails.

FIG. 2 shows a disposition example of the cameras 110 and the lasersensor 200. As the cameras 110, cameras 110-1 and 110-2 are installed onthe side of the track to image the inside of the track. The camera 110-1is installed at a height at which the guide wheel 941 is imaged in thehorizontal direction. An image captured by the camera 110-1 is used forthe side wheel detection unit 391 to determine an abrasion situation ofthe guide wheel 941.

The camera 110-2 is installed at a height at which the branching wheel951 is imaged in the horizontal direction. An image captured by thecamera 110-2 is used for the side wheel detection unit 391 to determinean abrasion situation of the branching wheel 951.

The laser sensor 200 is installed in a hole formed on the road surface.As will be described below, the laser sensor 200 is installed in adirection which has an inclination in the traveling direction of thevehicle 900 with respect to the vertical direction.

The camera 110 is installed on the side of track along which the vehicle900 travels and images the inside of the track. In particular, thecamera 110-1 of the cameras 110 images the guide wheel 941, as describedabove. The camera 110-2 of the camera 110 images the branching wheel951, as described above. The track in which the cameras 110 areinstalled may be a track along which the vehicle 900 normally travels ormay be a dedicated inspection track.

The telecentric lens 111 forms an image of a subject by condensing lightfrom the external world of the camera 110 at the position of the imagesensor 112.

FIG. 3 is an explanatory diagram showing an example of a principal rayin the telecentric lens 111. In FIG. 3, the telecentric lens 111includes a lens body 121 and a diaphragm 122. The diaphragm 122 isinstalled at a position of a focal point P11 of the lens body 121, andthus a principal ray is telecentric on an object side parallel to a lensoptical axis. In FIG. 3, a ray L11 indicates the lens optical axis andan example in which both rays L12 and L13 are principal rays is shown.

Both of the rays L12 and L13 indicating the principal rays are parallelto the ray L11 indicating the lens optical axis on the object side (asubject side).

The camera 110 includes the telecentric lens 111. Thus, even when theposition of a subject is changed in a depth direction of the camera 110,the position of an image of the subject in a captured image is notchanged.

In order for the side wheel detection unit 391 to determine an abrasionsituation of the guide wheel 941, the camera 110 is considered to imagethe entire guide wheel 941 from the side of the guide wheel 941 andmeasure the size (diameter) of the guide wheel 941. However, in order toimage the entire guide wheel 941, a telecentric lens with a largediameter is necessary as the telecentric lens 111. When the telecentriclens with a large diameter is used, installation cost is incurred andlarge space is considered to be necessary to install the camera 110.

Accordingly, in the abrasion inspection apparatus 1, the imaging unitpair 100 paired by two cameras 110 image boundaries of right and leftsides of the guide wheels 941 at the same time. This point will bedescribed with reference to FIG. 4.

FIG. 4 is an explanatory diagram showing an example of imaged spots ofthe guide wheel 941 and the branching wheel 951 by the camera 110.Cameras 110-1 a and 110-1 b image the guide wheel 941. Cameras 110-2 aand 110-2 b image the branching wheel 951. An arrow A11 indicates atraveling direction of the vehicle 900.

Any one of the cameras 110-1 a and 110-1 b corresponds to a firstimaging unit and captures an image which is an image of a boundary ofthe guide wheel 941 and is an image of a boundary on a first directionside in a vehicle traveling direction. The other of the camera 110-1 aand 110-1 b corresponds to a second imaging unit and captures an imagewhich is an image of the boundary of the guide wheel 941 and is an imageof the boundary on an opposite side to the first direction side.Specifically, the camera 110-1 a captures an image of a boundary of thefront side in the vehicle traveling direction of the guide wheel 941 andthe camera 110-1 b captures an image of a boundary of the rear side inthe vehicle traveling direction of the guide wheel 941. The camera 110-1a is installed to be separated from the camera 110-1 b in the vehicletraveling direction. The cameras 110-1 a and 110-1 b perform imaging atthe same time. However, the imaging timing of the camera 110-1 a and theimaging timing of the camera 110-1 b is not necessarily preciselysimultaneous, but may be substantially simultaneous.

A distance D11 between boundaries of both sides of the side wheeldetection unit 391 can be calculated from an image captured by thecamera 110-1 a and an image captured by the camera 110-1 b.Specifically, the side wheel detection unit 391 detects images of theboundaries of the guide wheel 941 from the image captured by the camera110-1 a and the image captured by the camera 110-1 b. The side wheeldetection unit 391 calculates the distance D11 according to a positionalrelation of the cameras 110-1 a and 110-1 b (in particular, the distancebetween the cameras 110-1 a and 110-1 b) and the position of thedetected image of the boundary in the image which is known at themagnification (the scaling ratio) of the image.

The cameras 110-1 a and 110-1 b include the telecentric lenses 111.Thus, the side wheel detection unit 391 can calculate the distance D11without needing to correct the distance according to the position of theguide wheel 941 in the depth direction when viewed from the camera 110.

The cameras 110-2 a and 110-2 b capture images which are images of aboundary of the branching wheel 951 and are images of a boundary on thefirst direction side in the vehicle traveling direction and captureimages which are images of a boundary of the branching wheel 951 and areimages of a boundary on the opposite side to the first direction side.Specifically, the camera 110-2 a captures an image of a boundary on thefront side in the vehicle traveling direction of the branching wheel 951and the camera 110-2 b captures an image of a boundary on the rear sidein the vehicle traveling direction of the branching wheel 951. Thecamera 110-2 a is installed in the vehicle traveling direction withrespect to the camera 110-2 b.

A distance D12 between the boundaries of both sides of the branchingwheel 951 can be calculated from an image captured by the camera 110-2 aand an image captured by the camera 110-2 b. Specifically, the sidewheel detection unit 391 detects images of the boundaries of thebranching wheel 951 from the image captured by the camera 110-2 a andthe image captured by the camera 110-2 b. The side wheel detection unit391 calculates the distance D12 according to a positional relation ofthe cameras 110-2 a and 110-2 b (in particular, the distance between thecameras 110-2 a and 110-2 b) and the position of the detected image ofthe boundary in the image which is known at the magnification (thescaling ratio) of the image.

The cameras 110-1 a and 110-1 b include the telecentric lenses 111.Thus, the side wheel detection unit 391 can calculate the distance D12without necessarily correcting the distance according to the position ofthe guide wheel 941 in the depth direction when viewed from the camera110.

FIG. 5 is an exterior diagram showing a schematic exterior of thevehicle 900 when viewed from the upper side. As described with referenceto FIG. 2, the supports 930 are installed to the right and left of thevehicle body 910. The guide wheels 941 and the branching wheels 951 areinstalled in the supports 930.

As the cameras 110, the cameras 110-1 a, 110-1 b, 110-2 a, and 110-2 bare installed on the sides of the track to image the inside of thetrack. As described with reference to FIG. 4, the cameras 110-1 a and110-1 b image the guide wheels 941. The cameras 110-2 a and 110-2 bimage the branching wheels 951. An arrow A21 indicates a travelingdirection of the vehicle 900.

The plurality of guide wheels 941 and the plurality of branching wheels951 are installed on each of the sides of the vehicle body 910. Forexample, the cameras 110-1 a and 110-1 b may capture images of theboundary whenever the boundary of the guide wheel 941 is located infront of the cameras 110. For example, the cameras 110-1 a and 110-1 bcontinuously perform imaging. Thus, the side wheel detection unit 391can determine abrasion situations of the plurality of guide wheels 941.For example, the cameras 110-2 a and 110-2 b may capture images of theboundary whenever the boundary of the branching wheel 951 is located infront of the cameras 110. For example, the cameras 110-2 a and 110-2 bcontinuously perform imaging. Thus, the side wheel detection unit 391can determine the abrasion situations of the plurality of branchingwheels 951.

FIG. 5 shows an example of a case in which the cameras 110 are installedonly on one of the sides of the track, but the cameras 110 may beinstalled on both sides of the track.

The image sensor 112 photoelectrically converts light condensed by thetelecentric lens 111 to generate image data.

The laser sensor 200 corresponds to an example of a distance measurementunit and measures a distance to an object which is in a laser radiationdirection. In particular, the laser sensor 200 measures a distancebetween the laser sensor 200 and the surface of the traveling tire 921when the traveling tire 921 is in the laser radiation direction. At thistime, the laser sensor 200 radiates a laser beam that expands in a widthdirection of the traveling tire 921 to measure a distance to each unit.

FIG. 6 is an explanatory diagram showing an installation example of thelaser sensor 200. In FIG. 6, a hole with a width D22 narrower than awidth D21 of the traveling tire 921 is installed at a position at whichthe traveling tire 921 travels on the road surface and the laser sensor200 is installed in the hole. The laser sensor 200 radiates a laser beamwith a width D24 that expands on the traveling tire 921 to measure adistance between the laser sensor 200 and each portion. Accordingly, thelaser sensor 200 measures a distance between the laser sensor 200 andeach portion in a line form in the width direction of the traveling tire921.

For example, the width D21 of the traveling tire 921 is about 300millimeters (mm) and the width D22 of the hole is about 50 millimeters.The laser sensor 200 measures a distance to each portion with the widthD24 of about 250 millimeters at the position of the traveling tire 921from which a radiation distance of the laser beam is about 450millimeters.

By obtaining a change amount in the width direction of the travelingtire 921 (a difference from the neighbor) with respect to the distancemeasured by the laser sensor 200, it is possible to detect unevenness onthe surface of the traveling tire 921.

Thus, the tire detection unit 392 calculates the depth of a grooveformed on the surface of the traveling tire 921.

As shown in FIG. 6, the laser sensor 200 is installed on a lower side ofthe track and is installed to measure a distance to the traveling tire921 located on an upper side which has an inclination in the vehicletraveling direction with respect to the vertical direction. In this way,the laser sensor 200 measures a distance to the traveling tire 921located in a direction which has an inclination in the vehicle travelingdirection with respect to the vertical direction. As a result, the lasersensor 200 can perform the measurement in a state in which the travelingtire 921 is not in contact with the ground, and accordingly, in a statein which the traveling tire 921 is weightless.

Thus, the tire detection unit 392 can calculate the depth of the grooveon the traveling tire 921 more accurately than when the traveling tire921 is weighted.

The calculation device 300 detects the abrasion situation of the guidewheel 941 and an abrasion situation of the branching wheel 951 accordingto images captured by the cameras 110. The calculation device 300detects the abrasion situation of the traveling tire 921 according tothe distance detected by the laser sensor 200.

The calculation device 300 is configured using, for example, a computer.

The image acquisition unit 310 acquires an image captured by the camera110. In particular, the image acquisition unit 310 acquires images whichare images of the boundary of the guide wheel 941 captured by the twocameras 110 configuring the imaging unit pair 100 and are images of theboundary on the first direction side in the vehicle traveling direction,and images of the boundary on the opposite side to the first directionside. The image acquisition unit 310 acquires images which are images ofthe boundary of the branching wheel 951 captured by two cameras 110configuring the imaging unit pair 100 and are images of the boundary onthe first direction side in the vehicle traveling direction, and imagesof the boundary on the opposite side to the first direction side.

The image acquisition unit 310 is configured as, for example, acommunication circuit that communicates with each camera 110 andreceives image data.

The distance information acquisition unit 320 acquires distanceinformation indicating a result of distance measurement by the lasersensor 200. The distance information acquisition unit 320 is configuredas, for example, a communication circuit that communicates with thelaser sensor 200 and receives distance information.

The storage unit 380 is configured using a storage device included inthe calculation device 300 and stores various kinds of information. Inparticular, the storage unit 380 stores image data acquired by the imageacquisition unit 310 and distance information acquired by the distanceinformation acquisition unit 320.

The calculation unit 390 controls each unit of the calculation device300 and performs various processes such as various kinds ofcalculations. The calculation unit 390 is configured, for example, whena central processing unit (CPU) included in the calculation device 300reads a program from the storage unit 380 and executes the program.

The side wheel detection unit 391 corresponds to an example of a guidewheel abrasion situation detection unit (hereinafter referred to as aguide wheel detection unit) and detects the abrasion situation of theguide wheel 941 according to the position of the boundary of the guidewheel 941 indicated in an image acquired by the image acquisition unit310. More specifically, the side wheel detection unit 391 calculates alength between the boundaries according to the images of the boundariesof both sides of the guide wheel 941 captured by two cameras 110configuring the imaging unit pair 100, compares the obtained length to athreshold, and determines whether a warning is output. The side wheeldetection unit 391 also detects the abrasion situation of the branchingwheel 951 as in the case of the guide wheel 941.

FIG. 7 is an explanatory diagram showing an example of a correspondencerelation between an image captured by the camera 110 and the guide wheel941. In FIG. 7, an image P21 is an example of an image which is an imageof the boundary of the guide wheel 941 captured by the camera 110 (forexample, the camera 110-1 a in FIG. 4) and is an image of the boundaryon the first direction side in the vehicle traveling direction. In theimage P21, a region A31 is a region other than an image of the guidewheel 941 and a region A32 is a region of the image of the guide wheel941. A distance D31 indicates an actual width of a portion equivalent tothe region A32 in the guide wheel 941. The side wheel detection unit 391stores a magnification (a scaling ratio) of an image captured by thecamera 110 in advance, detects the width of the region A32 in the imageP21, and calculates the distance D31 by dividing the obtained width bythe magnification.

An image P22 is an example of an image which is an image of the boundaryon the other side of the vehicle traveling direction in the guide wheel941 captured by the camera 110 (for example, the camera 110-1 b in FIG.4). In the image P22, a region A33 is a region of the image of the guidewheel 941 and a region A34 is a region other than an image of the guidewheel 941. A distance D32 indicates an actual width of a portionequivalent to the region A33 in the guide wheel 941. The side wheeldetection unit 391 detects the width of the region A33 in the image P22and calculates the distance D32 by dividing the obtained width by themagnification of the image P22.

A distance D33 is a distance equivalent to a gap between the images P21and P22. The distance D33 is a fixed distance corresponding to adistance at which two cameras 110 are installed away from each other.For example, a user of the abrasion inspection apparatus 1 registers thedistance D33 and the storage unit 380 stores the distance D33 inadvance.

The side wheel detection unit 391 calculates the width (the distanceD11) between the boundaries of the guide wheel 941 by calculating thedistances D31 and D32, reading the distance D33 from the storage unit380, and calculating a sum of the distances D31, D32, and D33. Thedistance D11 is equivalent to the diameter of the guide wheel 941.

The side wheel detection unit 391 compares the calculated distance D11to a predetermined threshold and outputs a warning indicating that theguide wheel 941 is abraded when it is determined that the distance D11is equal to or less than the threshold. The user of the abrasioninspection apparatus 1 determines a value according to a specification(in particular, the diameter of the guide wheel 941 which is a newproduct) of the guide wheel 941 as the threshold and registers thethreshold. The storage unit 380 stores the threshold in advance.

Various output aspects of the warning by the side wheel detection unit391 may be used. For example, a display device included in thecalculation device 300 may display a warning output by the side wheeldetection unit 391. Alternatively, the warning output by the side wheeldetection unit 391 may be transmitted to another device by thecalculation device 300.

The side wheel detection unit 391 may output a value indicating thedegree of abrasion of the guide wheel 941, for example, by outputtingthe distance D11 equivalent to the diameter of the guide wheel 941 inaddition to or instead of an output of the warning as evaluation of theabrasion situation of the guide wheel 941.

The side wheel detection unit 391 calculates a distance between theboundaries of the branching wheel 951 and compares the distance to apredetermined threshold. Then, when it is determined that the distancebetween the boundaries of the branching wheel 951 is equal to or lessthan the threshold, the side wheel detection unit 391 outputs a warningindicating that the branching wheel 951 is abraded.

For the branching wheel 951, various output aspects of the warning bythe side wheel detection unit 391 may also be used, as in the case ofthe guide wheel 941.

For the branching wheel 951, the side wheel detection unit 391 may alsooutput a value indicating the degree of abrasion of the branching wheel951, as in the case of the guide wheel 941.

The tire detection unit 392 detects the abrasion situation of thetraveling tire 921 according to a distance between the laser sensor 200and the surface of the traveling tire 921 measured by the laser sensor200. More specifically, as described with reference to FIG. 6, the lasersensor 200 measures a distance between the laser sensor 200 and thesurface of the traveling tire 921 on a line form in the width directionof the traveling tire 921. Then, the tire detection unit 392 detectsunevenness on the surface of the traveling tire 921 by obtaining achange amount (a difference from the neighbor) in the width direction ofthe traveling tire 921 with respect to a distance measured by the lasersensor 200. Thus, the tire detection unit 392 calculates a depth of agroove formed on the surface of the traveling tire 921. Then, the tiredetection unit 392 compares the obtained depth of the groove to apredetermined threshold and outputs a warning indicating that thetraveling tire 921 is abraded when it is determined that the depth ofthe groove is equal to or less than the threshold. The user of theabrasion inspection apparatus 1 determines a value according to aspecification (in particular, the depth of the groove of the travelingtire 921 which is a new product) of the traveling tire 921 and registersthe threshold. The storage unit 380 stores the threshold in advance.

Various output aspects of the warning by the tire detection unit 392 maybe used. For example, the display device included in the calculationdevice 300 may display a warning output by the tire detection unit 392.Alternatively, the warning output by the tire detection unit 392 may betransmitted to another device by the calculation device 300.

The tire detection unit 392 may output a value indicating the degree ofabrasion of the traveling tire 921, for example, by outputting the depthof the groove of the traveling tire 921 in addition to or instead of anoutput of the warning as evaluation of the abrasion situation of thetraveling tire 921.

Next, an operation of the calculation device 300 will be described withreference to FIGS. 8 and 9.

FIG. 8 is a flowchart showing an example of a process procedure in whichthe calculation device 300 detects the abrasion situation of the guidewheel 941. The calculation device 300 performs a process of FIG. 8, forexample, at each predetermined period.

In the process of FIG. 8, the image acquisition unit 310 acquires theimages of the boundary of the guide wheel 941 captured by two cameras110 configuring the imaging unit pair 100 (step S101). As describedabove, the image acquisition unit 310 acquires two images, the imagewhich is the image of the boundary of the guide wheel 941 and the imageof the boundary on the first direction side in the vehicle travelingdirection, and the image of the boundary on the opposite side to thefirst direction side.

Next, the side wheel detection unit 391 detects the positions of theimages of the boundaries in the images in the two images obtained instep S101 (step S102). The side wheel detection unit 391 detects theimages of the boundaries in the images by, for example, image matchingand obtains coordinates indicating the positions of the detected imagesof the boundaries in the images.

Then, the side wheel detection unit 391 calculates the distance (thedistance D11 in FIG. 4) between the boundaries of the guide wheel 941,as described with reference to FIG. 4 (step S103).

Then, the side wheel detection unit 391 determines whether the distancebetween the boundaries obtained in step S103 is equal to or less thanthe threshold (step S104). When the side wheel detection unit 391determines that the distance between the boundaries is greater than thethreshold (NO in step S104), the process of FIG. 8 ends.

Conversely, when the side wheel detection unit 391 determines that thedistance between the boundaries is equal to or less than the threshold(YES in step S104), the side wheel detection unit 391 outputs thewarning indicating abrasion of the guide wheel 941 (step S111).

After step S111, the process of FIG. 8 ends.

The process procedure in which the calculation device 300 detects theabrasion situation of the branching wheel 951 is the same as the case ofthe guide wheel 941.

FIG. 9 is a flowchart showing an example of a process procedure in whichthe calculation device 300 detects the abrasion situation of thetraveling tire 921. The calculation device 300 performs the process ofFIG. 9, for example, at each predetermined period.

In the process of FIG. 9, the distance information acquisition unit 320acquires distance information obtained when the laser sensor 200measures the distance (step S201).

Subsequently, the tire detection unit 392 calculates the depth of thegroove formed on the surface of the traveling tire 921, as describedabove, according to the distance information obtained in step S201 (stepS202).

Then, the tire detection unit 392 determines whether the depth of thegroove obtained in step S202 is equal to or less than the threshold(step S203). When the tire detection unit 392 determines that the depthof the groove is greater than the threshold (NO in step S203), theprocess of FIG. 9 ends.

Conversely, when the tire detection unit 392 determines that the depthof the groove is equal to or less than the threshold (YES in step S203),the tire detection unit 392 outputs the warning indicating abrasion ofthe traveling tire 921 (step S211).

After step S211, the process of FIG. 9 ends.

As described above, one of the cameras 110 configuring the imaging unitpair 100 is installed on the side of the track along which the vehicle900 travels and is installed to image the inside of the track via thetelecentric lens 111. The other of the cameras 110 configuring theimaging unit pair 100 is installed in the vehicle traveling directionwith respect to the one camera 110 on the side of the track along whichthe vehicle 900 travels and is installed to image the inside of thetrack via the telecentric lens 111.

The image acquisition unit 310 acquires the image which is the image ofthe boundary of the guide wheel 941 captured by the camera 110 and isthe image of the boundary on the first direction side in the vehicletraveling direction, and the image which is the image of the boundary ofthe guide wheel 941 and is the image of the boundary on the oppositeside to the first direction side.

Then, the side wheel detection unit 391 detects the abrasion situationof the guide wheel 941 according to the positions of the boundariesshown in the images captured by the image acquisition unit 310.

Thus, the abrasion inspection apparatus 1 can automatically monitor theabrasion situation of the guide wheel 941. From this viewpoint, theabrasion inspection apparatus 1 can efficiently detect the abrasionsituation of the guide wheel 941 which is one of the components of thevehicle.

The camera 110 includes the telecentric lens 111, and thus the sidewheel detection unit 391 can calculate the distance between theboundaries of the guide wheel 941 without performing correctionaccording to the position of a subject in the depth direction in theimages captured by the cameras 110. From this viewpoint, it is possibleto prevent a process load of the side wheel detection unit 391 fromincreasing.

Two cameras 110 image the boundaries of the guide wheel 941, and thuscan capture the boundaries of both sides of the guide wheel 941 withoutusing a telecentric lens with a large diameter. From the viewpoint thatit is not necessary to use a telecentric lens with a large diameter, itis possible to suppress installation cost and prevent an increase in thesize of the camera 110.

The laser sensor 200 is installed on the lower side of the track of thevehicle 900 and measures a distance to an object located on the upperside which has an inclination in the vehicle traveling direction withrespect to the vertical direction. The tire detection unit 392 detectsthe abrasion situation of the traveling tire 921 according to thedistance between the laser sensor 200 and the traveling tire 921measured by the laser sensor 200.

Thus, the abrasion inspection apparatus 1 can automatically monitor anabrasion situation of the traveling tire 921. From this viewpoint, theabrasion inspection apparatus 1 can efficiently inspect the abrasionsituation of the traveling tire 921 which is one of the components ofthe vehicle.

The laser sensor 200 measures a distance to the traveling tire 921 onthe upper side which has an inclination in the vehicle travelingdirection with respect to the vertical direction. The laser sensor 200can measure the distance in a state in which the traveling tire 921 isnot in contact with the ground, and accordingly, in a state in which thetraveling tire 921 is weightless. Thus, the tire detection unit 392 cancalculate the depth of the groove on the traveling tire 921 moreaccurately than when the traveling tire 921 is weighted.

The side wheel detection unit 391 may detect the degree of abrasion ofthe guide wheel 941 in a plurality of directions of the guide wheel 941so that uneven abrasion of the guide wheel 941 can be detected.

FIG. 10 is an explanatory diagram showing an example of a change in thedirection of the guide wheel 941. In FIG. 10, an arrow A41 indicates atraveling direction of the vehicle 900. A plate 411 for rotating theguide wheel 941 and a plate 412 for rotating the branching wheel 951 areinstalled on a side of the track of the vehicle 900. With traveling ofthe vehicle 900, the guide wheel 941 comes into contact with the plate411 and rotates, and thus the direction of the guide wheel 941 ischanged. With traveling of the vehicle 900, the branching wheel 951comes into contact with the plate 412 and rotates, and thus thedirection of the branching wheel 951 is changed. In the example of FIG.10, the directions of the guide wheel 941 and the branching wheel 951are changed 90 degrees. The plate 411 corresponds to an example of arotation mechanism.

Before and after the direction of the guide wheel 941 is changed, twocameras 110-1 are installed to image boundaries of both sides of theguide wheel 941, and thus a total of four cameras are installed.

Of the four cameras 110-1, two cameras 110-1 (a camera 110-1 a and acamera 110-1 b) performing imaging in a state before the guide wheel 941comes into contact with the plate 411 and rotates and thus the directionof the guide wheel 941 is changed correspond to examples of the firstand second imaging units. Of the four cameras 110-1, two cameras 110-1(a camera 110-1 c and a camera 110-1 d) performing imaging in a stateafter the guide wheel 941 comes into contact with the plate 411 androtates and thus the direction of the guide wheel 941 is changedcorrespond to examples of the third and fourth imaging units.

The side wheel detection unit 391 detects the abrasion situationaccording to images of the boundaries captured by the cameras 110-1 aand 110-1 b in the state before the guide wheel 941 rotates. Further,the side wheel detection unit 391 detects the abrasion situationaccording to images of the boundaries captured by the cameras 110-1 cand 110-1 d in the state after the guide wheel 941 rotates.

In this way, the camera 110-1 images the boundaries of both sides of theguide wheel 941 before and after the direction of the guide wheel 941 ischanged. Thus, the side wheel detection unit 391 can calculate thelength between the boundaries in a plurality of directions (twodirections in the example of FIG. 10) of the guide wheel 941. Thus, evenwhen the guide wheel 941 is unevenly abraded, the side wheel detectionunit 391 is highly likely to detect abrasion of the guide wheel 941. Forexample, the side wheel detection unit 391 is highly likely to determinewhether the magnitude of the abrasion of the guide wheel 941 is equal toor greater than a predetermined magnitude.

The side wheel detection unit 391 may detect the degree of abrasion ofthe guide wheel 941 in three or more directions of the guide wheels 941.Thus, even when the guide wheel 941 is unevenly abraded, the side wheeldetection unit 391 is even more likely to detect abrasion of the guidewheel 941.

The side wheel detection unit 391 may also detect the degree of abrasionin a plurality of directions of the branching wheel 951, as in the caseof the guide wheel 941.

In FIG. 10, before and after the direction of the branching wheel 951 ischanged, two cameras 110-2 are installed to image boundaries of bothsides of the branching wheel 951, and thus a total of four cameras areinstalled.

Before and after the direction of the branching wheel 951 is changed,the camera 110-2 images the boundaries of both sides of the branchingwheel 951, and thus the side wheel detection unit 391 can calculate alength between the boundaries in a plurality of directions (twodirections in the example of FIG. 10) of the branching wheel 951. Thus,even when the branching wheel 951 is unevenly abraded, the side wheeldetection unit 391 is highly likely to detect abrasion of the branchingwheel 951.

The side wheel detection unit 391 may detect the degree of abrasion ofthe branching wheel 951 in three or more directions of the branchingwheel 951. Thus, even when the branching wheel 951 is unevenly abraded,the side wheel detection unit 391 is even more likely to detect abrasionof the branching wheel 951.

The abrasion inspection apparatus may not necessarily detect all of theabrasion of the guide wheel 941, the abrasion of the branching wheel951, and the abrasion of the traveling tire 921 and may detect theabrasion of one or two thereof.

FIG. 11 is a schematic block diagram showing a functional configurationof an abrasion inspection apparatus 2 which is a first modificationexample of the abrasion inspection apparatus 1 according to theembodiment. In FIG. 11, the abrasion inspection apparatus 2 includescameras 110 and a calculation device 500. The camera 110 includes atelecentric lens 111 and an image sensor 112. The calculation device 500includes an image acquisition unit 310, a storage unit 380, and acalculation unit 590. The calculation unit 590 includes a side wheeldetection unit 391.

Two cameras 110 are paired to configure an imaging unit pair 100. Thenumber of imaging unit pairs 100 included in the abrasion inspectionapparatus 1 may be one or more.

In FIG. 11, the same reference numerals (100, 110, 111, 112, 310, 380,and 391) are given to portions having the same functions as those of theunits in FIG. 1 and a description thereof will be omitted.

The abrasion inspection apparatus 2 includes each unit detecting atleast one of abrasion of the guide wheel 941 and abrasion of thebranching wheel 951. On the other hand, the abrasion inspectionapparatus 2 does not include each unit detecting abrasion of thetraveling tire 921. Specifically, the abrasion inspection apparatus 2does not include the laser sensor 200, the distance informationacquisition unit 320, and the tire detection unit 392 among the unitsincluded in the abrasion inspection apparatus 1.

As in the case of the abrasion inspection apparatus 1, one of thecameras 110 configuring the imaging unit pair 100 in the abrasioninspection apparatus 2 is installed on a side of a track along which thevehicle 900 travels and is installed to image an inside of the track viathe telecentric lens 111. The other of the cameras 110 configuring theimaging unit pair 100 is installed in the vehicle traveling directionwith respect to the one camera 110 on the side of the track along whichthe vehicle 900 travels and is installed to image the inside of thetrack via the telecentric lens 111.

The image acquisition unit 310 acquires the image which is the image ofthe boundary of the guide wheel 941 captured by the camera 110 and isthe image of the boundary on the first direction side in the vehicletraveling direction, and the image which is the image of the boundary ofthe guide wheel 941 and is the image of the boundary on the oppositeside to the first direction side.

Then, the side wheel detection unit 391 detects the abrasion situationof the guide wheel 941 according to the positions of the boundariesshown in the images captured by the image acquisition unit 310.

Thus, the abrasion inspection apparatus 2 can automatically monitor theabrasion situation of the guide wheel 941. From this viewpoint, theabrasion inspection apparatus 2 can efficiently detect the abrasionsituation of the guide wheel 941 which is one of the components of thevehicle.

The camera 110 includes the telecentric lens 111, and thus the sidewheel detection unit 391 can calculate the distance between theboundaries of the guide wheel 941 without performing correctionaccording to the position of a subject in the depth direction in theimages captured by the cameras 110. From this viewpoint, it is possibleto prevent a process load of the side wheel detection unit 391 fromincreasing.

Two cameras 110 image the boundaries of the guide wheel 941, and thuscan capture the boundaries of both sides of the guide wheel 941 withoutusing a telecentric lens with a large diameter. From the viewpoint thatit is not necessary to use a telecentric lens with a large diameter, itis possible to suppress installation cost and prevent an increase in thesize of the camera 110.

FIG. 12 is a schematic block diagram showing a functional configurationof an abrasion inspection apparatus 3 which is a second modificationexample of the abrasion inspection apparatus 1 according to theembodiment. In FIG. 12, the abrasion inspection apparatus 3 includes alaser sensor 200 and a calculation device 600. The calculation device600 includes a distance information acquisition unit 320, a storage unit380, and a calculation unit 690. The calculation unit 690 includes atire detection unit 392.

In FIG. 12, the same reference numerals (200, 320, 380, and 392) aregiven to portions having the same functions as those of the units inFIG. 1 and the description thereof will be omitted.

The abrasion inspection apparatus 3 includes each unit detectingabrasion of the traveling tire 921. On the other hand, the abrasioninspection apparatus 3 does not include each unit detecting abrasion ofthe guide wheel 941 and abrasion of the branching wheel 951.Specifically, the abrasion inspection apparatus 3 does not include thecameras 110, the image acquisition unit 310, and the side wheeldetection unit 391 among the units included in the abrasion inspectionapparatus 1.

As in the case of the abrasion inspection apparatus 1, the laser sensor200 in the abrasion inspection apparatus 3 is installed on the lowerside of the track of the vehicle 900 and measures a distance to anobject located on the upper side which has an inclination in the vehicletraveling direction with respect to the vertical direction. The tiredetection unit 392 detects the abrasion situation of the traveling tire921 according to the distance between the laser sensor 200 and thetraveling tire 921 measured by the laser sensor 200.

Thus, the abrasion inspection apparatus 3 can automatically monitor anabrasion situation of the traveling tire 921. From this viewpoint, theabrasion inspection apparatus 3 can efficiently inspect the abrasionsituation of the traveling tire 921 which is one of the components ofthe vehicle.

The laser sensor 200 measures a distance to the traveling tire 921 onthe upper side which has an inclination in the vehicle travelingdirection with respect to the vertical direction. The laser sensor 200can measure the distance in a state in which the traveling tire 921 isnot in contact with the ground, and accordingly, in a state in which thetraveling tire 921 is weightless. Thus, the tire detection unit 392 cancalculate the depth of the groove on the traveling tire 921 moreaccurately than when the traveling tire 921 is weighted.

A program realizing some or all of the functions of the calculationdevices 300, 500, and 600 may be recorded on a computer-readablerecording medium. Then, the process of each unit may be performed bycausing a computer system to read the program recorded on the recordingmedium. The “computer system” mentioned herein includes an OS orhardware such as peripheral devices.

The “computer system” also includes a homepage supply environment (ordisplay environment) when WWW systems are used.

The “computer-readable recording medium” is a portable medium such as aflexible disk, a magneto-optical disc, a ROM, or a CD-ROM and a storagedevice such as a hard disk contained in a computer system. The“computer-readable recording medium” includes a recording medium thatdynamically retains a program for a short time as in a communicationline when a program is transmitted via a network such as the Internet ora communication line such as a telephone line and a recording mediumthat retains a program for a given time, such as a volatile memoryinside a computer system serving as a server or a client in this case.The program may be a program that realizes some of the above-describedfunctions or may be a program that realizes the above-describedfunctions in combination with a program already recorded in a computersystem.

The embodiments of the present invention have been described above indetail with reference to the drawings, but specific configurations arenot limited to the embodiments and include design changes within thescope of the present invention without departing from the gist of thepresent invention.

INDUSTRIAL APPLICABILITY

The present invention relates to an abrasion inspection apparatusincluding: a first imaging unit that is installed on a side of a trackalong which a vehicle in which a guide wheel is installed on a sidetravels and images an inside of the track via a telecentric lens; asecond imaging unit that is installed in a vehicle traveling directionwith respect to the first imaging unit on the side of the track andimages the inside of the track via a telecentric lens; an imageacquisition unit that acquires an image which is an image of a boundaryof the guide wheel captured by the first imaging unit and is an image ofa boundary on a first direction side in the vehicle traveling directionand an image which is an image of the boundary of the guide wheelcaptured by the second imaging unit at the same time as the capturing ofthe image by the first imaging unit and is an image of a boundary on anopposite side to the first direction side; and a guide wheel detectionunit that detects the abrasion situation of the guide wheel according toa position of a boundary indicated in the images acquired by the imageacquisition unit.

According to the invention, it is possible to efficiently detect theabrasion situation of a component of a vehicle.

REFERENCE SIGNS LIST

1 Abrasion inspection apparatus

100 Imaging unit pair

110 Camera

111 Telecentric lens

112 Image sensor

200 Laser sensor

300 Calculation device

310 Image acquisition unit

320 Distance information acquisition unit

380 Storage unit

390 Calculation unit

391 Side wheel detection unit

392 Tire detection unit

900 Vehicle

910 Vehicle body

921 Traveling tire

922, 942, 952 Shaft

930 Support

941 Guide wheel

951 Branching wheel

The invention claimed is:
 1. An abrasion inspection apparatuscomprising: a first imaging unit that is installed on a side of a track,a vehicle traveling along the track, a guide wheel being installed on aside of the vehicle, the first imaging unit imaging an inside of thetrack via a telecentric lens; a second imaging unit that is installed ina vehicle traveling direction with respect to the first imaging unit onthe side of the track and images the inside of the track via atelecentric lens; an image acquisition unit that acquires an image whichis an image of a boundary of the guide wheel captured by the firstimaging unit and is an image of a boundary on a first direction side inthe vehicle traveling direction and an image which is an image of theboundary of the guide wheel captured by the second imaging unit at thesame time as the capturing of the image by the first imaging unit and isan image of a boundary on an opposite side to the first direction side;and a guide wheel detection unit that detects an abrasion situation ofthe guide wheel according to a position of a boundary indicated in theimages acquired by the image acquisition unit, wherein a rotationmechanism is in contact with the guide wheel and rotates the guidewheel.
 2. The abrasion inspection apparatus according to claim 1,further comprising: a third imaging unit that is installed on the sideof the track along which the vehicle in which the guide wheel isinstalled on the side travels and images the inside of the track via atelecentric lens; and a fourth imaging unit that is installed in thevehicle traveling direction with respect to the third imaging unit onthe side of the track and images the inside of the track via atelecentric lens, wherein the rotation mechanism is installed on theside of the track, wherein both the first and second imaging units areinstalled at positions at which the images of the boundary of the guidewheel are captured before the rotation mechanism rotates the guidewheel, wherein both the third and fourth imaging units are installed atpositions at which the images of the boundary of the guide wheel arecaptured after the rotation mechanism rotates the guide wheel, whereinthe image acquisition unit further acquires an image which is an imageof the boundary of the guide wheel captured by the third imaging unitand is an image of a boundary on the first direction side in the vehicletraveling direction and an image which is an image of the boundary ofthe guide wheel captured by the fourth imaging unit at the same time asthe capturing of the image by the third imaging unit and is an image ofthe boundary on the opposite side to the first direction side, andwherein the guide wheel detection unit detects an abrasion situation ofthe guide wheel according to a position of the boundary indicated ineach of the image captured by the first imaging unit and the imagecaptured by the second imaging unit and further detects an abrasionsituation of the guide wheel according to the image captured by thethird imaging unit and a position of the boundary indicated in eachimage captured by the fourth imaging unit.
 3. The abrasion inspectionapparatus according to claim 1, further comprising: a distancemeasurement unit that is installed on a lower side of the track andmeasures a distance to an object located on an upper side which has aninclination in the vehicle traveling direction with respect to avertical direction; and a tire detection unit that detects an abrasionsituation of a traveling tire according to a distance which is measuredby the distance measurement unit and is a distance between the distancemeasurement unit and the traveling tire installed on a lower side of thevehicle.
 4. An abrasion inspection method of an abrasion inspectionapparatus including a first imaging unit and a second imaging unit, thefirst imaging unit being installed on a side of a track, a vehicletraveling along the track, a guide wheel being installed on a side ofthe vehicle, the first imaging unit imaging an inside of the track via atelecentric lens, the second imaging unit being installed in the vehicletraveling direction with respect to the first imaging unit on the sideof the track, the second imaging unit imaging the inside of the trackvia a telecentric lens, the abrasion inspection method comprising:acquiring an image which is an image of a boundary of the guide wheelcaptured by the first imaging unit and is an image of a boundary on afirst direction side in the vehicle traveling direction and an imagewhich is an image of the boundary of the guide wheel captured by thesecond imaging unit at the same time as the capturing of the image bythe first imaging unit and is an image of a boundary on an opposite sideto the first direction side; and detecting an abrasion situation of theguide wheel according to a position of a boundary indicated in theacquired images, wherein a rotation mechanism is in contact with theguide wheel and rotates the guide wheel.
 5. A program for a computerused for an abrasion inspection apparatus including a first imaging unitand second imaging unit, the first imaging unit being installed on aside of a track, a vehicle traveling along the track, a guide wheelbeing installed on a side of the vehicle, the first imaging unit imagingan inside of the track via a telecentric lens, the second imaging unitbeing installed in the vehicle traveling direction with respect to thefirst imaging unit on the side of the track, the second imaging unitimaging the inside of the track via a telecentric lens, the programcausing the computer to perform: acquiring an image which is an image ofa boundary of the guide wheel captured by the first imaging unit and isan image of a boundary on a first direction side in the vehicletraveling direction and an image which is an image of the boundary ofthe guide wheel captured by the second imaging unit at the same time asthe capturing of the image by the first imaging unit and is an image ofa boundary on an opposite side to the first direction side; anddetecting an abrasion situation of the guide wheel according to aposition of a boundary indicated in the acquired images, wherein arotation mechanism is in contact with the guide wheel and rotates theguide wheel.